General Approach for Parameterization of the Inverse Dynamic Equation for Industrial Robot and 5-axis CNC Machine

In practice, using the 5-axis CNC machines and industrial welding robots for fabricating more and more complex mechanical parts is an increasing demand. In this context, the tooltip of the machines/robots is usually required to move along a complex toolpath represented by a parametric equation such as Bezier, Spline or NURBS. Hence, computation of the inverse kinematics and dynamics e.g. velocities, accelerations, jerks and applied torques/forces in the joint space of a machine/robot when the tooltip tracks such as high curvature parametric curve is challenging. Therefore, this paper presents a general approach for the parameterization of the kinematic and dynamic equations of the machine/robot. By using the proposed method, the kinematics and dynamics model of a machine/robot can be formulated in the parametric domain, which is advantageous and applicable for the dynamic analysis of the 5-axis CNC machine/robot and other purposes. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.